Loop Actions with a Cycle F-modifier
OK, so my approach would be to first set up your scene as you want it,



Then select your armature and press Space and search for Bake Action, trim the timeline to roughly fit your current take before doing so.



This might take a while depending on legth, don't worry that's normal.

After it's done you'll have something like this:



Once you are there, delete the last key that's generated at the end of the timeline, unless you trimmed to perfectly fit.

then convert this to an action:


I'm driving the motion with a childOf on the bunny that follows an empty with a followPath constrain.

So you'll have to sync their length and pauses once:



Then just input the same number in the repeat box, as many times as you want to do so:



If you wanted you could instead drive the actions by F-Curves, or maybe make all strips Meta-Strips of the same length and then instance those. But I feel this method is the most scalable to a bigger set of layers being mixed.

You can and should keep a copy of the original actions in case you want to tweak the animation later.

Note that this will make longer animations quite heavy, as it bakes every n-th frame, using 1 is a bit extreme in this case, toy around with a 2 to 8 frame step, and you can do cleanup afterwards if you want.

Here's the blend file: